vcpkg/ports/rtabmap/cpp17.patch

diff --git a/corelib/src/SimpleIni.h b/corelib/src/SimpleIni.h
index 3fccf9dc1..e787be813 100644
--- a/corelib/src/SimpleIni.h
+++ b/corelib/src/SimpleIni.h
@@ -324,7 +324,10 @@ public:
 #endif
 
         /** Strict less ordering by name of key only */
-        struct KeyOrder : std::binary_function<Entry, Entry, bool> {
+        struct KeyOrder {
+            using result_type = bool;
+            using first_argument_type = Entry;
+            using second_argument_type = Entry;
             bool operator()(const Entry & lhs, const Entry & rhs) const {
                 const static SI_STRLESS isLess = SI_STRLESS();
                 return isLess(lhs.pItem, rhs.pItem);
@@ -332,7 +335,10 @@ public:
         };
 
         /** Strict less ordering by order, and then name of key */
-        struct LoadOrder : std::binary_function<Entry, Entry, bool> {
+        struct LoadOrder {
+            using result_type = bool;
+            using first_argument_type = Entry;
+            using second_argument_type = Entry;
             bool operator()(const Entry & lhs, const Entry & rhs) const {
                 if (lhs.nOrder != rhs.nOrder) {
                     return lhs.nOrder < rhs.nOrder;
diff --git a/corelib/src/rtflann/algorithms/dist.h b/corelib/src/rtflann/algorithms/dist.h
index a286f1eea..6456eb25b 100644
--- a/corelib/src/rtflann/algorithms/dist.h
+++ b/corelib/src/rtflann/algorithms/dist.h
@@ -517,6 +517,7 @@ struct HammingPopcnt
             result += __builtin_popcountll(a_final ^ b_final);
         }
 #else
+        typedef unsigned long long pop_t;
         HammingLUT lut;
         result = lut(reinterpret_cast<const unsigned char*> (a),
                      reinterpret_cast<const unsigned char*> (b), size * sizeof(pop_t));
diff --git a/corelib/src/rtflann/algorithms/kdtree_index.h b/corelib/src/rtflann/algorithms/kdtree_index.h
index c2ab18864..407233770 100644
--- a/corelib/src/rtflann/algorithms/kdtree_index.h
+++ b/corelib/src/rtflann/algorithms/kdtree_index.h
@@ -37,6 +37,7 @@
 #include <cstring>
 #include <stdarg.h>
 #include <cmath>
+#include <random>
 
 #include "rtflann/general.h"
 #include "rtflann/algorithms/nn_index.h"
@@ -675,9 +676,11 @@ protected:
 
         tree_roots_.resize(trees_);
         /* Construct the randomized trees. */
+        std::random_device rd;
+        std::mt19937 g(rd());
         for (int i = 0; i < trees_; i++) {
             /* Randomize the order of vectors to allow for unbiased sampling. */
-            std::random_shuffle(ind.begin(), ind.end());
+            std::shuffle(ind.begin(), ind.end(),g);
             tree_roots_[i] = divideTree(&ind[0], int(size_) );
         }
         delete[] mean_;
diff --git a/corelib/src/rtflann/util/heap.h b/corelib/src/rtflann/util/heap.h
index b104ee3ae..a9b50550c 100644
--- a/corelib/src/rtflann/util/heap.h
+++ b/corelib/src/rtflann/util/heap.h
@@ -115,8 +115,11 @@ public:
         count = 0;
     }
 
-    struct CompareT : public std::binary_function<T,T,bool>
+    struct CompareT
     {
+        using result_type = bool;
+        using first_argument_type = T;
+        using second_argument_type = T;
         bool operator()(const T& t_1, const T& t_2) const
         {
             return t_2 < t_1;
diff --git a/corelib/src/rtflann/util/lsh_table.h b/corelib/src/rtflann/util/lsh_table.h
index 974bb9e44..5389dc743 100644
--- a/corelib/src/rtflann/util/lsh_table.h
+++ b/corelib/src/rtflann/util/lsh_table.h
@@ -39,6 +39,7 @@
 #include <iostream>
 #include <iomanip>
 #include <limits.h>
+#include <random>
 // TODO as soon as we use C++0x, use the code in USE_UNORDERED_MAP
 #if RTFLANN_USE_UNORDERED_MAP
 #include <unordered_map>
@@ -362,9 +363,11 @@ inline LshTable<unsigned char>::LshTable(unsigned int feature_size, unsigned int
     mask_ = std::vector<size_t>((size_t)ceil((float)(feature_size * sizeof(char)) / (float)sizeof(size_t)), 0);
 
     // A bit brutal but fast to code
+    std::random_device rd;
+    std::mt19937 g(rd());
     std::vector<size_t> indices(feature_size * CHAR_BIT);
     for (size_t i = 0; i < feature_size * CHAR_BIT; ++i) indices[i] = i;
-    std::random_shuffle(indices.begin(), indices.end());
+    std::shuffle(indices.begin(), indices.end(),g);
 
     // Generate a random set of order of subsignature_size_ bits
     for (unsigned int i = 0; i < key_size_; ++i) {
diff --git a/corelib/src/rtflann/util/random.h b/corelib/src/rtflann/util/random.h
index 871c9d15f..5d96ac273 100644
--- a/corelib/src/rtflann/util/random.h
+++ b/corelib/src/rtflann/util/random.h
@@ -35,6 +35,7 @@
 #include <cstdlib>
 #include <cstddef>
 #include <vector>
+#include <random>
 
 #include "rtflann/general.h"
 
@@ -75,14 +76,6 @@ inline int rand_int(int high = RAND_MAX, int low = 0)
     return low + (int) ( double(high-low) * (std::rand() / (RAND_MAX + 1.0)));
 }
 
-
-class RandomGenerator
-{
-public:
-    ptrdiff_t operator() (ptrdiff_t i) { return rand_int(i); }
-};
-
-
 /**
  * Random number generator that returns a distinct number from
  * the [0,n) interval each time.
@@ -110,14 +103,15 @@ public:
      */
     void init(int n)
     {
-        static RandomGenerator generator;
         // create and initialize an array of size n
         vals_.resize(n);
         size_ = n;
         for (int i = 0; i < size_; ++i) vals_[i] = i;
 
         // shuffle the elements in the array
-        std::random_shuffle(vals_.begin(), vals_.end(), generator);
+        std::random_device rd;
+        std::mt19937 g(rd());
+        std::shuffle(vals_.begin(), vals_.end(), g);
 
         counter_ = 0;
     }